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fixed sending goal command

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This commit is contained in:
matlabbe
2015-08-04 14:16:29 -04:00
parent e7e55cf904
commit 235ff77337
4 changed files with 12 additions and 9 deletions
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2
corelib/include/rtabmap/core/RtabmapEvent.h
View File

@@ -73,7 +73,7 @@ public:
kCmdResume,
kCmdGoal, // params: [string] label or [int] location ID
kCmdCancelGoal,
kCmdLabel // params: [string] label or [int] location ID
kCmdLabel // params: [string] label, [int] location ID
};
public:
RtabmapEventCmd(Cmd cmd, const ParametersMap & parameters = ParametersMap()) :

7
corelib/src/RtabmapThread.cpp
View File

@@ -434,10 +434,11 @@ void RtabmapThread::handleEvent(UEvent* event)
else if(cmd == RtabmapEventCmd::kCmdLabel)
{
ULOGGER_DEBUG("CMD_LABEL");
UASSERT(rtabmapEvent->value1().isStr() || rtabmapEvent->value1().isInt() || rtabmapEvent->value1().isUInt());
UASSERT(rtabmapEvent->value1().isStr());
UASSERT(rtabmapEvent->value2().isUndef() || rtabmapEvent->value2().isInt() || rtabmapEvent->value2().isUInt());
ParametersMap param;
param.insert(ParametersPair("label", rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():""));
param.insert(ParametersPair("id", !rtabmapEvent->value1().isStr()?rtabmapEvent->value1().toStr():"0"));
param.insert(ParametersPair("label", rtabmapEvent->value1().toStr()));
param.insert(ParametersPair("id", rtabmapEvent->value2().isUndef()?"0":rtabmapEvent->value2().toStr()));
pushNewState(kStateLabelling, param);
}
else